KR101467887B1 - Combined remotely operated vehicle and power supplying method of remotely operrated vehicle - Google Patents

Abstract

The present invention relates to a hybrid underwater operation robot and a power supply method thereof. Provided is a hybrid underwater operation robot comprising: an operation robot performing an operation underwater; and at least one power supply robot having a power supply part, and moving to a predetermined position when raised to the surface of the water by buoyancy or swimming underwater after being separated from the operation robot so that the power supply part can be charged or replaced, wherein the power supply part detachably mounted on the operation robot supplies power to the operation robot.

Description

TECHNICAL FIELD [0001] The present invention relates to a hybrid type underwater work robot and a work robot,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work robot performing work in water and a method of supplying power to a work robot performing work in water.

In general, a remotely operated vehicle (ROV), for example, installs, inspects, maintains or disassembles a subsea oil / gas production system in the water, explores submarine resources, installs submarine cables, installs offshore wind turbines Support operations, salvage operations of sinking vessels, analysis of deep sea salt for marine research, water temperature, water depth, etc., or repair work of underwater structures. These work robots are connected to the control room on the bus or the ground side, for example, via a tether cable, and are remotely controlled and operated by a work robot operator in the control room. In the past, a tether management system (TMS), which manages a tether cable, is placed underwater to perform power supply and communication from a bus line to an underwater tether management apparatus through an umbilical cable, Power is supplied from the tether management device to the work robot through the cable, and communication between the control room and the work robot is performed.

However, in the conventional method, it is not only necessary to place a large-scale launcher and recovery device (LARS) on the bus for launching the tether management device from the ship into the water, or recovering the ship from the water, The larger the thickness of the umbilical cable and the tether cable, the larger the winch installed on the bus to wind up the umbilical cable and the tether cable, and the greater the capacity of the tether management system and the launch and return system, A high-capacity crane having a weight equal to or more than the weight of the crane is required to be shipped. In addition, the operation of the work robot is restricted due to the interference of the tether cable, and the length between the tether management system and the work robot is limited to about 1 km or less, which causes a problem that the work radius of the work robot is limited.

On the other hand, instead of supplying power to the work robot using the tether management device, a battery may be directly installed in the work robot, or a docking station may be installed in the hand to charge and discharge the battery of the work robot However, due to the limitation of the battery capacity in the former case, it is only possible to perform limited tasks such as simple exploration or sampling by using the work robot. In the latter case, it is necessary to install a docking station separately The docking station is excessively expensive to install, and the work robot is operated during the charging of the battery, so that the underwater work can not be performed.

An object of the present invention is to provide a hybrid type underwater work robot and a work robot power supply method capable of supplying power to a work robot without operating a tether management device or a docking station in water.

Another object of the present invention is to provide a hybrid type underwater work robot and a power supply method for a work robot in which interference occurs in a work robot due to a tether cable supplying power to the work robot or a work radius is not limited have.

Another object of the present invention is to provide a hybrid type underwater work robot and a power supply method for a work robot, which can continuously perform underwater work without interrupting the underwater work of the work robot for charging the battery .

The problems to be solved by the present invention are not limited to the above-mentioned problems. Other technical subjects not mentioned will be apparent to those skilled in the art from the description below.

A hybrid type underwater work robot according to one aspect of the present invention includes: a work robot that performs work in water; And a power supply unit that is detachably mounted on the work robot and supplies power to the work robot. The work robot is separated from the work robot for charging or replacing the power supply unit, And one or more power supply robots moving to a predetermined position.

The work robot includes: a mounting frame for mounting the power supply robot; And a power supply control unit for controlling the power supply robot so that the power supply robot is fixed to the mount frame in a power supply mode to the work robot of the power supply robot, And may include fixing and separating means for separating.

Wherein the power supply robot includes an outer frame having at least one connection hole formed on at least one side thereof and the fixing and separating means is inserted into the receiving groove of the power supply robot mounted on the mounting frame, A fixing member for fixing the robot for use to the mounting frame and detaching the power supply robot from the mounting frame taken out from the receiving groove; And a control unit which drives the fixing member in one direction so that the fixing member is inserted into the receiving groove in the power supply mode and that when the switching from the power supply mode to the charging or replacement mode is performed, And driving means for driving the fixing member in a direction opposite to the one direction.

The work robot includes: a mounting frame for mounting the power supply robot; And a power cable member connected to the power supply unit of the power supply robot in a state where the power supply robot is mounted on the mount frame and supplying power of the power supply unit to the power supply module of the work robot .

Wherein the at least one power supply robot includes a first power supply unit mounted on the first mounting frame of the work robot so as to be detachable and mounted on the work robot to supply power to the work robot, A first power supply robot which is separated from the work robot for charging or replacing a supply part, moves up to a water surface by buoyancy or swims in water and moves to a predetermined position; And a second power supply unit mounted on the second mounting frame of the work robot and detachably mounted on the work robot for supplying electric power to the work robot, and for charging or replacing the second power supply unit, And a second power supply robot which is separated from the work robot and ascends to the water surface by buoyancy or swims in water and moves to a predetermined position.

The work robot includes: a frame having an opening formed on at least one side thereof; And a second power supply unit that is provided in the frame and receives the first power supply and the second power supply from the first power supply unit of the first power supply robot and the second power supply unit of the second power supply robot, And a power supply module for supplying power to the first power source and the second power source, wherein the power supply module includes: a power source sensing unit for sensing a remaining power level of the first power source and the second power source; A power selection unit selecting one of the first power source and the second power source according to the detection result of the power sensing unit; And a power distribution unit for distributing the power selected by the power selection unit and supplying power to each function unit of the work robot.

The at least one power supply robot may further include a tool module having one or more working tools embedded therein and having a gate for discharging the working tool to the outside.

The work robot includes: a frame having an opening formed on at least one side thereof; A propeller installed in the frame; A propeller driving unit installed in the frame and driving the propeller; A robot arm installed in the frame; A robot arm driver installed in the frame for driving the robot arm; A communication module installed in the frame; An imaging module installed in the frame; A power supply module installed in the frame; And a control unit installed in the frame for controlling the propeller driving unit, the robot arm driving unit, the communication module, the image capturing module, and the power supply module, wherein the power supply module is connected to the power source And supplies power to the propeller drive unit, the robot arm drive unit, the communication module, the image pickup module, and the control unit by receiving power from the supply unit.

The work robot further includes a winder for winding the optical fiber, and the communication module can perform communication with the controller on the bus or the ground side through the optical fiber.

Wherein the work robot includes a power cable member connected to a power supply module of the work robot, wherein the power supply robot includes the power supply unit, the power supply unit supplies power from the power supply unit to an outer surface side of the power supply robot, A power module having a connection hole through which the power cable member is inserted; At least one sensor module including at least one sensor portion; And a moving module including at least one of a buoyancy device for providing buoyancy and a swimming device for providing a swimming function.

According to another aspect of the present invention, a work robot receives first power from a first power supply unit of a first power supply robot installed in the work robot and performs work in water, and the remaining power of the first power supply unit ; Separating the first power supply robot from the working robot when the power remaining amount of the first power supply unit is less than a preset threshold value; And supplying power to the work robot, wherein the first power supply robot moves up to a water surface by buoyancy or swims in water and moves to a predetermined position for charging or replacing the first power supply unit .

Wherein the power supply method of the work robot includes a step of detecting the remaining power of the power supply when the power remaining amount of the first power supply unit is less than a preset threshold value, The robot may further include a step of receiving a second power from a second power supply unit of the second power supply robot and performing a work in water, and sensing a remaining power level of the second power supply unit.

The method of supplying power to the work robot includes moving the first power supply robot to the work robot after completing the charging or replacement of the first power supply unit after the moving step. The work robot receives the first power from the first power supply unit of the first power supply robot and performs work in water when the remaining power of the second power supply unit is less than a preset threshold value; Separating the second power supply robot from the work robot; The second power supply robot may be raised to a water surface by buoyancy or swim in water to move to a predetermined position for charging or replacing the second power supply unit.

According to an embodiment of the present invention, power can be supplied to the work robot without operating the tether management device or the docking station in water.

Further, according to an embodiment of the present invention, it is possible to prevent interference with the work robot due to the tether cable that supplies power to the work robot, or limitation of the work radius.

In addition, according to an embodiment of the present invention, it is possible to continuously perform an underwater operation without interrupting the underwater operation of the work robot for charging the battery.

The effects of the present invention are not limited to the effects described above. Unless stated, the effects will be apparent to those skilled in the art from the description and the accompanying drawings.

1 is a view showing a hybrid type underwater work robot according to an embodiment of the present invention performing an underwater operation.
2 is a perspective view of a hybrid type underwater work robot according to an embodiment of the present invention.
3 is a plan view of the hybrid type underwater work robot shown in FIG.
4 is a front view of the hybrid type underwater work robot shown in FIG.
Fig. 5 is a left side view of the hybrid type underwater work robot shown in Fig. 2. Fig.
6 is an enlarged perspective view of the 'A' portion shown in FIG.
7 is a side view of a power supply robot constituting a hybrid type underwater working robot according to an embodiment of the present invention.
8 is a configuration diagram of a hybrid type underwater work robot according to an embodiment of the present invention.
9 is a configuration diagram of a power supply module constituting a hybrid type underwater work robot according to an embodiment of the present invention.
10 is a flowchart of a power supply method of a work robot according to an embodiment of the present invention.
11 is a side view of a power supply robot constituting a hybrid underwater working robot according to another embodiment of the present invention.

Other advantages and features of the present invention and methods of achieving them will become apparent with reference to the embodiments described below in detail with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. The present embodiments are provided so that the disclosure of the present invention is complete and that those skilled in the art will fully understand the scope of the present invention. The terms and accompanying drawings used herein are for the purpose of illustrating the present invention easily, and the shapes shown in the drawings may be exaggeratedly displayed to facilitate understanding of the present invention as needed.

Unless defined otherwise, all terms (including technical or scientific terms) used herein have the same meaning as commonly accepted by the generic art in the prior art to which this invention belongs. Terms defined by general dictionaries may be interpreted to have the same meaning as in the related art and the text of this application. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. As used in the specification, "includes" and various uses of the verb will not preclude the presence or addition of one or more other elements, steps, and operations other than the named elements, steps, and operations. In the following description, a detailed description of known configurations or functions related to the present invention may be omitted when it is determined that the gist of the present invention may be blurred.

The hybrid type underwater work robot according to an embodiment of the present invention includes a robot for power supply detachably mounted on a work robot, and the work robot receives power from a power supply robot mounted on the work robot to perform an underwater work . The power supply robot is separated from the work robot for charging or replacing the power source when the power is consumed, and is moved to the water surface by buoyancy or swimming, is recovered as a bus, is launched into the water after charging or replacing the power source, .

According to an embodiment of the present invention, power can be supplied to a work robot without operating a tether management system (TMS), a docking station, or a docking station in water, and a tether cable The work robot can be supplied with power without the power line, so that the work robot can be interrupted by the tether cable or can perform the underwater work without the limitation of the working radius. In addition, when the power supply robot is separated by the work robot for power charging or replacement, power is supplied to the work robot by using another power supply robot, or when the power supply robot is powered or replaced Power can be supplied to the work robot by using a battery in preparation for continuous operation without interrupting the underwater work.

1 is a view showing a hybrid type underwater work robot according to an embodiment of the present invention performing an underwater operation. 1, the hybrid type underwater work robot 10 according to an embodiment of the present invention includes a work robot 100 and a power supply robot 200, 300. The work robot 100 may be used for a variety of tasks such as, for example, installation, inspection, maintenance or disassembly of an oil / gas production system at the seabed, exploration of seabed resources, installation of a submarine cable or installation work of an offshore wind turbine Can be performed. The work robot 100 may be controlled by the bus 400 or the ground operator, or may autonomously navigate according to a pre-stored navigation program to perform necessary operations.

The power supply robots 200 and 300 are detachably mounted on the work robot 100 and supply power to the work robot 100. In one embodiment, the first power supply robot 200 supplies power to the work robot 100 while being mounted on the work robot 100, and the work robot 100 is powered by the first power supply robot 200 to perform an underwater operation. 1, the first power supply robot 200 is disconnected from the work robot 100 and the buoyancy force is applied to the first power supply robot 200. When the remaining power of the first power supply robot 200 is lower than the predetermined threshold value, Or by swimming, and is recovered by the bus bar 400. [0035] When the power of the first power supply robot 200 is charged or replaced in the bus 400, the first power supply robot 200 is launched from the bus 400 into the water and moves to the work robot 100 And then mounted on the work robot 100 again.

When the first power supply robot 200 is disconnected from the work robot 100 for charging or replacing the power of the first power supply robot 200, The work robot 100 does not interrupt the underwater work while the first power supply robot 200 is disconnected so that the work robot 100 continuously supplies power to the work robot 100 Underwater operation can be performed. The work robot 100 receives power from the power supply robots 200 and 300 mounted on the work robot 100 instead of receiving the power via the tether cable of the tether management apparatus, It is possible to remove the tether cable including the power supply line and supply power to the work robot without operating a tether management system (TMS) or a docking station in the water. In addition, since the hybrid type underwater work robot 10 according to the embodiment of the present invention can supply power to the work robot 100 even without a tether cable for power supply, the work robot 100 can perform the interference , And can perform underwater work without limitation of the working radius.

FIG. 2 is a perspective view of a hybrid type underwater work robot according to an embodiment of the present invention, FIG. 3 is a plan view of the hybrid type underwater work robot shown in FIG. 2, Fig. 5 is a left side view of the hybrid type underwater work robot shown in Fig. 2; Fig. 1 to 5, the work robot 100 includes a frame 110, mounting frames 111 and 112, a propeller 120, a robot arm 130, a photographing module 150, a power supply module 160, Fixing and separating means 171 and 172, and power cable members 181 and 182.

In one embodiment, the frame 110 includes one or more openings to reduce frictional forces in the water and improve propulsion. The frame 110 may be provided in the form of connecting the upper and lower frames at the front, back, left, and right positions by four vertical frames provided in the form of columns, for example. May be formed on the side and the bottom of the frame 110. 8), a communication module (reference numeral 140 in FIG. 8), a robot arm driving section (reference numeral 140 in FIG. 8), a robot arm driving section The image capturing module 150, the power supply module 160, the fixing and separating units 171 and 172, the power cable members 181 and 182, and the control unit 190 shown in FIG. 8), the driving unit 121, the robot arm driving unit 131, the communication module 140, the image capturing module 150, the power supply module 160 and the fixing and separating units 171 and 172, .

The first mounting frame 111 mounts the first power supply robot 200. The second mounting frame 112 mounts the second power supply robot 300. The mounting frames 111 and 112 may be provided corresponding to the size and shape of the power supply robots 200 and 300. In one embodiment, the mounting frames 111 and 112 may be formed to surround at least a part of the power supply robot 200 or 300. [ The first mounting frame 111 and the second mounting frame 112 are connected to the frame 100 so as to maintain the balance of the working robot 100 and to easily maintain the posture of the working robot 100 horizontally. 110, respectively.

The propeller (120) propels the work robot (100). The propeller 120 may include, for example, one or more thrusters. In one embodiment, the robot arm 130 may be installed on the front side of the frame 110. [ In one embodiment, the robot arm 130 may include a first robot arm 130a and a second robot arm 130b provided in the form of a multi-joint manipulator. The first robot arm 130a and the second robot arm 130b may be provided in the same structure or may be provided in different structures to perform different functions.

In one embodiment, the work robot 100 may be provided with a winding section 142 for winding the fiber optic communication line 141. The communication module 140 of the work robot 100 can communicate with the bus 400 or the control unit on the ground side via the optical fiber communication line 141. [ The communication module 140 of the work robot 100 transmits data from the work robot 100 to the control room of the bus 400 through the optical fiber communication line 141 and transmits data from the control room of the bus 400 to the work robot 100, and the like. The optical fiber is thin and the optical fiber communication line 141 corresponding to the length of about 40 km can be wound around the winding unit 142 so that the working area of the working robot 100 is expanded and the dependency on the supporting line And the spool can be mounted on the work robot 100, so that the tensile force applied to the optical fiber communication line 141 is minimized.

The image capturing module 150 captures an image of a work area around the work robot 100 of the work robot 100. In one embodiment, imaging module 150 may include a imaging device 151 and a lighting device 152. The image capturing apparatus 151 may be installed on the upper side of the front surface of the frame 110, for example. The image capturing device 151 may be implemented by, for example, a CCD camera or a CMOS camera, but may be any type of image capturing device. The image photographed by the image photographing apparatus 151 can be transmitted to the bus side through an optical fiber communication line 141, for example. The illumination device 152 may provide illumination toward the working area of the work robot 100. In one embodiment, the illumination device 152 may be installed at a location adjacent to the imaging device 151 in the frame 110. The lighting device 152 may be implemented, for example, as a light emitting diode (LED), but it may be used without any particular limitation as long as it can provide illumination.

The power supply module 160 receives power from the first power supply unit 211 of the first power supply robot 200 and the second power supply unit 311 of the second power supply robot 300, And supplies power to the respective functional units of the work robot 100. The power supply module 160 will be described later with reference to FIG.

6 is an enlarged perspective view of the 'A' portion shown in FIG. 1 to 6, the power supply cable members 181 and 182 are connected to the power supply unit of the power supply robot 200 (300 in FIG. 4) And supplies power of the power supply units 211 and 311 to the power supply module 160 of the work robot 100. In one embodiment, the power cable members 181 and 182 are formed so as to protrude from the lower side to the upper side of the mount frames 111 and 112. When the power supply robots 200 and 300 are mounted on the mount frames 111 and 112, The cable members 181 and 182 can be inserted into the connection holes 212 and 312 of the power supply robot 200 and 300 and connected to the cable connection terminals of the power supply units 211 and 311.

The fixing and separating means 171 and 172 include fixing members 173 and 175 and driving means 174 and 176. In one embodiment, the fixing members 173 and 175 may be disposed on both sides of the frame 110 at the upper portions of the mount frames 111 and 112, and may be inserted through the slide groove 110a of the frame 110 have. The fixing members 173 and 175 are inserted into the receiving grooves 213 and133 of the power supply robot 200 and 300 mounted on the mounting frames 111 and 112 to fix the power supply robots 200 and 300 to the mounting frames 111 and 112 And is drawn out from the receiving recesses 213 and 313 of the power supply robots 200 and 300 to separate the power supply robots 200 and 300 from the mounting frames 111 and 112 of the work robot 100.

The driving means 174 and 176 drive the fixing members 173 and 175 in one direction so that the fixing members 173 and 175 are inserted into the receiving recesses 213 and 313 in the power supply mode, And the fixing members 173 and 175 are driven in opposite directions in one direction so that the fixing members 173 and 175 are pulled out from the receiving grooves 213 and 313. The driving means 174 and 176 can drive the fixing members 173 and 175 in the manner of, for example, a hydraulic cylinder, a rack-pinion coupling or a screw coupling.

7 is a side view of a power supply robot constituting a hybrid type underwater working robot according to an embodiment of the present invention. Referring to FIG. 7, one or more connection holes 212 and 312 and receiving grooves 213 and 313 are formed on at least one side of the outer frames 200a and 300a of the power supply robot 200 and 300, respectively. In one embodiment, the outer frames 200a and 300a of the power supply robots 200 and 300 may be provided in a wired form such as an autonomous unmanned vehicle (AUV). In one embodiment, the power supply robot 200 or 300 may include power modules 210 and 310, sensor modules 220 and 320, and movement modules 230 and 330.

The power supply modules 210 and 310 include power supply units 211 and 311 and connection holes 212 and 312 for inserting the power cable members 181 and 182 of the work robot 100 from the power supply units 211 and 311 to the outer surfaces of the power supply robots 200 and 300 Is formed. In one embodiment, the connection holes 212 and 312 may be provided so as to be equal to or slightly larger than the outer diameter of the power cable members 181 and 182 of the working robot 100. When the power supply robots 200 and 300 are placed on the mount frames 111 and 112, the tip ends of the power supply cable members 181 and 182 are connected to the cable connection terminals of the power supply units 211 and 311 of the power supply robots 200 and 300, Power is supplied from the power supply units 211 and 311 of the power supply robots 200 and 300 to the power supply module 160 of the work robot 100. In one embodiment, the receiving grooves 213 and 313 of the power supply robot 200 and 300 may be provided so as to be equal to or slightly larger than the fixing members 172 and 174 of the work robot 100.

The sensor modules 220 and 320 include one or more sensor units 221 and 321. The sensor units 221 and 321 can collect, for example, exploration data using various sensors. The sensor units 221 and 321 may include, for example, an underwater imaging apparatus, a water temperature measuring sensor, a salinity measuring sensor, a water depth measuring sensor or a sonar sensor. For example, Conductivity Temperature Depth Recorder (CTD) can be used to simultaneously measure electrical conductivity (in terms of salinity), water temperature and depth. The sonar sensor receives an acoustic wave signal (e.g., an ultrasonic signal) from, for example, a transponder and detects three-dimensional position information of the work robot 100, transmits the acoustic wave signal, Thereby detecting information on a region to be measured, for example, an undersea topography or the like. The sensor modules 220 and 320 of the power supply robots 200 and 300 perform some of the functions of the underwater work of the work robot 100 and reduce the size of the work robot 100, The size of the entire system of the system can be minimized.

The movement modules 230 and 330 may include at least one of a buoyancy device for providing buoyancy to the power supply robot 200 and a swimming device for providing a swimming function. When the buoyancy device is installed on the moving modules 230 and 330, the power supply robots 200 and 300 float toward the water surface by buoyancy as they are separated from the work robot 100. In one embodiment, the mobile module 230, 330 may include a navigation device 231, 331. The navigation devices 231 and 331 can determine information such as the position, speed, and posture of the power supply robots 200 and 300, for example. The navigation devices 231 and 331 may be implemented by, for example, an Inertial Navigation System (INS) or a Global Positioning System (GPS). The navigation devices 231 and 331 control the motors 233 and 333 for driving the propelling bodies 232 and 332 and the power supply robots 200 and 300 based on the information of the position, speed and attitude of the power supply robots 200 and 300 Direction control units 234 and 334 can be controlled. The direction adjusting portions 234 and 334 may include, for example, a ballast or a rudder.

In an embodiment, each module of the power supply robot 200, 300, for example, a sensor module, a power module, etc., may be provided in a detachable structure. The sensor modules 220 and 320 and the power supply units 210 and 310 are connected to the sensor modules 220 and 320 having other sensor units and the charged power supply units 200 and 300, The power supply units 211 and 311 of the power supply modules 210 and 310 may be replaced with the power supply modules 210 and 310 having the built-in power supply units 211 and 311 or the power supply units 211 and 311 may be connected to the power supply units 210 and 310, You can do it.

8 is a configuration diagram of a hybrid type underwater work robot according to an embodiment of the present invention. 8, the power supply module 160 receives the first power from the first power supply unit 211 of the first power supply robot 200 and the second power supply unit 211 of the second power supply robot 300, A propeller drive unit 121 that drives each function unit of the work robot 100, for example, the propeller 120, and a robot arm 130 that receives the second power provided from the power supply unit 311, The robot arm driving unit 131, the communication module 140, the image capturing module 150, the fixing and separating units 171 and 172, and the control unit 190.

For example, when the hybrid type underwater work robot 10 includes only one power supply robot, the power supply device 164 may supply power to the work robot The work robot 100 can supply power while being separated from the work robot 100. In one embodiment, the control unit 190 of the work robot 100 can perform various tasks by controlling the sensor modules 220 and 320 installed in the power supply robots 200 and 300.

9 is a configuration diagram of a power supply module constituting a hybrid type underwater work robot according to an embodiment of the present invention. 8 and 9, the power supply module 160 includes a power sensing unit 161, a power selection unit 162, and a power distribution unit 163. The power sensing unit 161 senses the remaining power of the first power source from the first power source supplying robot 200 and the second power source from the second power source supplying robot 300. The power source selection unit 162 selects the power source of the power source supplying robot 200 or 300 having a larger remaining power than the first power source and the second power source, for example, according to the detection result of the power source sensing unit 161. The power distribution and supply unit 163 distributes the power selected by the power selection unit 162 and supplies power to the respective functional units of the work robot 100.

In one embodiment, the power supply module 160 may be provided as one module or as two or more modules. For example, the power supply module 160 may include a first power supply module supplied with the first power supplied from the first power supply robot 200, a second power supply module provided from the second power supply robot 200, And a second power supply module for receiving the second power supply module. In this case, the power source selection unit 162 selects the power source for the power source, for example, the first power source unit 200 connected to the first power source unit 200, 1 Power supply module can be selected.

The work robot 100 constituting the hybrid type underwater work robot 10 according to the embodiment of the present invention may further include a storage device (not shown). The storage device stores, for example, a threshold value set for comparison with the power residual amount to determine when the power supply robot 200 or 300 is separated, information about the route of the work robot 100, And data collected by the power supply robots 200 and 300 can be stored.

11 is a side view of a power supply robot constituting a hybrid underwater working robot according to another embodiment of the present invention. In the following description of the embodiment shown in FIG. 11, the same reference numerals will be given to the same components as those shown in FIG. Like reference numerals in the drawings denote like elements in the drawings.

Referring to FIG. 11, the power supply robot 200, 300 further includes a tool module 240, 340. In the tool modules 240 and 340, one or more working tools 241 and 341 are stored. Opening and closing gates 242 and 342 are formed on the underside of the tool modules 240 and 340. The gates 242 and 342 can be opened or closed in a slide opening / closing structure, a hinge opening / closing structure, or various other ways. For example, the worker on the bus side may open the gates 242 and 342 while replacing or charging the power supply robot 200 or 300, and then move the work tools 241 and 341 in the tool modules 240 and 340 through the gates 242 and 342, ) Can be input.

When the power supply robot 200 or 300 is launched into the water and moves to the vicinity of the work area of the seabed, the power supply robot 200 or 300 senses this and automatically opens the gates 242 and 342, ) Is discharged to the working space on the sea floor. Next, the power supply robots 200 and 300 automatically close the gates 242 and 342, and then, the power supply robot 200 is connected to the work robot 100 and supplies power to the work robot 100. The work robot 100 can perform various work using the work tools 241 and 341 which are supplied with power from the power supply robots 200 and 300 and fall down on the undersurface.

10 is a flowchart of a power supply method of a work robot according to an embodiment of the present invention. 10, in step S11, the work robot 100 receives the first power from the first power supply robot 200, performs an underwater work, and operates the power supply module 160 of the work robot 100, Detects the power remaining amount of the first power supply robot (200). If it is determined in step S12 that the power remaining amount of the first power supplying robot 200 is less than the threshold value, the work robot 100 may move the second power supplying robot 300 in place of the first power supplying robot 200, The second power supply robot 300 performs an underwater operation, and detects the remaining power of the second power supply robot 300. Next, in Step S13, the first power supply robot 200 is separated from the work robot 100 by the fixing and separating means 171. In Step S14, the first power supply robot 200 is charged or replaced The first power supply robot 200 moves up to the water surface by buoyancy or swims underwater and moves to a predetermined position, for example, to the water surface on the bus 400 side. In step S15, the first power supply robot 200 is recovered by the bus 400. After the operator on the bus 400 side charges or replaces the power supply, the first power supply robot 200 is powered do. The first power supply robot 200 launched into the water moves to the work robot 100 and is mounted on the mount frame 111 of the work robot 100. The power is supplied from the first power supply unit 211 of the first power supply robot 200 to the power supply module 160 of the work robot 100 through the power cable members 181 and 182 of the work robot 100 And the first power supply robot 200 is fixed to the work robot 100 by the fixing and separating means 171. [

If the remaining power of the second power supply robot 200 is lower than the threshold value in accordance with the work performed by the work robot 100 in step S16, the work robot 100 is replaced by the second power supply robot 300 Power is supplied from the first power supply robot 200 to perform an underwater operation, and the remaining power of the first power supply robot 200 is detected. Next, in step S17, the second power supply robot 300 is separated from the work robot 100 by the fixing and separating means 172, and in step S18, the second power supply robot 300 is charged or replaced The second power supply robot 300 moves up to the predetermined position, for example, the bus bar 400, by the buoyancy to rise or swim under water.

According to the embodiment of the present invention, the hybrid underwater work robot 10 sequentially supplies power to the work robot 100 by using two power supply robots 200 and 300, so that the underwater work can be continuously performed And can perform semi-permanent underwater work. In the above embodiment, two power supply robots 200 and 300 are used. However, the hybrid type underwater work robot 10 may include one power supply robot. In this case, while the power supply robot is separated from the work robot for charging or replacing the power source, the work can be temporarily performed using the battery of the work robot.

It is to be understood that the above-described embodiments are provided to facilitate understanding of the present invention, and do not limit the scope of the present invention, and it is to be understood that various modified embodiments are also within the scope of the present invention. It is to be understood that the technical scope of the present invention should be determined by the technical idea of the claims and that the technical scope of the present invention is not limited to the literary description of the claims, To the invention of the invention.

10: Combined Underwater Work Robot 100: Work Robot
110: frame 111, 112: mounting frame
120: propeller 121: propeller drive
130: Robot arm 131: Robot arm drive unit
140: communication module 150: image capturing module
151: image capturing device 152: illuminating device
160: power supply module 161: power detection unit
162: Power selection unit 163: Power distribution unit
164: power supply 171,172: fixing and separating means
181, 182: power cable member 190:
200: first power supply robot 210: power supply module
211: first power supply unit 212, 312: connection hole
213, 213: receiving groove 220, 230: sensor module
221, 321: Sensor unit 230, 330: Moving module
231,331: navigation device 232,332: propellant
233, 333: motors 234, 334:
240, 340: Tool module 241, 341:
242,342: Gate 300: Second power supply robot
311: second power supply unit 400: mother bus

Claims (13)

A work robot that performs work in water; And
And a power supply unit that is detachably mounted on the work robot and supplies power to the work robot. The work robot is separated from the work robot for charging or replacing the power supply unit, A first power supply robot and a second power supply robot which move to a predetermined position,
Wherein the work robot is provided with a first power supply and a second power supply from a first power supply of the first power supply robot and a second power supply of the second power supply robot, Wherein the robot controller selects one of the first power source and the second power source by sensing the remaining power of the power source and distributes the selected power source to each functional part of the working robot. The method according to claim 1,
The work robot includes:
A mounting frame for mounting the power supply robot; And
The power supply robot is fixed to the mount frame in a power supply mode to the work robot of the power supply robot and the power supply robot is separated from the mount frame in the charge or replacement mode of the power supply robot And a fixed and separating means for guiding the workpiece to the workpiece. A work robot that performs work in water; And
And a power supply unit that is detachably mounted on the work robot and supplies power to the work robot. The work robot is separated from the work robot for charging or replacing the power supply unit, And at least one power supply robot moving to a predetermined position,
The work robot includes:
A mounting frame for mounting the power supply robot; And
The power supply robot is fixed to the mount frame in a power supply mode to the work robot of the power supply robot and the power supply robot is separated from the mount frame in the charge or replacement mode of the power supply robot And fixing and separating means,
Wherein the power supply robot includes an outer frame having at least one connection hole formed on at least one side thereof,
Wherein the fixing and separating means comprises:
Wherein the power supply robot is inserted into the connection hole of the power supply robot mounted on the mount frame to fix the power supply robot to the mount frame and to fix the power supply robot to be detached from the mount frame, absence; And
The fixing member is driven in one direction so that the fixing member is inserted into the connection hole in the power supply mode and the fixing member is pulled out from the connection hole at the time of switching from the power supply mode to the charging or replacement mode, And driving means for driving the fixing member in the direction opposite to the one direction. The method according to claim 1,
The work robot includes:
A mounting frame for mounting the power supply robot; And
And a power cable member connected to the power supply unit of the power supply robot in a state where the power supply robot is mounted on the mount frame and supplying the power of the power supply unit to the power supply module of the work robot Type underwater work robot. The method according to claim 1,
Wherein the first power supply robot includes a first power supply unit mounted removably on a first mounting frame of the work robot and mounted on the work robot to supply power to the work robot, The work robot is separated from the work robot for charging or replacing the supply part, and is lifted to the water surface by the buoyant force or swims in water and moves to a predetermined position,
The second power supply robot includes a second power supply unit mounted on the second mounting frame of the work robot so as to be detachable and mounted on the work robot to supply power to the work robot, Wherein the robot is separated from the work robot for filling or replacing the robot and moves up to a water surface by buoyancy or swims in water to move to a predetermined position. A work robot that performs work in water; And
And a power supply unit that is detachably mounted on the work robot and supplies power to the work robot. The work robot is separated from the work robot for charging or replacing the power supply unit, And at least one power supply robot moving to a predetermined position,
Wherein the at least one power supply robot comprises:
And a first power supply unit mounted on the first mounting frame of the work robot and detachably mounted on the work robot for supplying electric power to the work robot, A first power supply robot which is detached from the robot and ascends to the water surface by buoyancy or swims in water and moves to a predetermined position; And
And a second power supply unit mounted on the second mounting frame of the work robot and detachably mounted on the work robot for supplying power to the work robot, And a second power supply robot which is separated from the robot and ascends to the water surface by buoyancy or swims in water and moves to a predetermined position,
The work robot includes:
A frame having an opening formed on at least one side thereof;
And a second power supply unit that is provided in the frame and receives the first power supply and the second power supply from the first power supply unit of the first power supply robot and the second power supply unit of the second power supply robot, And a power supply module for supplying power to the sub-
The power supply module includes:
A power sensing unit for sensing a power remaining amount of the first power source and the second power source;
A power selection unit selecting one of the first power source and the second power source according to the detection result of the power sensing unit; And
And a power distribution unit for distributing the power selected by the power selection unit and supplying power to each function unit of the work robot. A work robot that performs work in water; And
And a power supply unit that is detachably mounted on the work robot and supplies power to the work robot. The work robot is separated from the work robot for charging or replacing the power supply unit, And at least one power supply robot moving to a predetermined position,
Wherein the at least one power supply robot comprises:
Further comprising a tool module having at least one working tool embedded therein and a gate for discharging the working tool to the outside. A work robot that performs work in water; And
And a power supply unit that is detachably mounted on the work robot and supplies power to the work robot. The work robot is separated from the work robot for charging or replacing the power supply unit, And at least one power supply robot moving to a predetermined position,
The work robot includes:
A frame having an opening formed on at least one side thereof;
A propeller installed in the frame;
A propeller driving unit installed in the frame and driving the propeller;
A robot arm installed in the frame;
A robot arm driver installed in the frame for driving the robot arm;
A communication module installed in the frame;
An imaging module installed in the frame;
A power supply module installed in the frame; And
And a control unit installed in the frame for controlling the propeller drive unit, the robot arm drive unit, the communication module, the image pickup module, and the power supply module,
Wherein the power supply module receives power from the power supply unit of the power supply robot and supplies power to the propeller drive unit, the robot arm drive unit, the communication module, the image pickup module, and the control unit. 9. The method of claim 8,
Wherein the work robot further includes a winder for winding the optical fiber,
Wherein the communication module communicates with the control unit on the bus or ground side through the optical fiber. A work robot that performs work in water; And
And a power supply unit that is detachably mounted on the work robot and supplies power to the work robot. The work robot is separated from the work robot for charging or replacing the power supply unit, And at least one power supply robot moving to a predetermined position,
Wherein the work robot includes a power cable member connected to a power supply module of the work robot,
The power supply robot includes:
A power module including the power supply unit and having a connection hole through which the power cable member of the work robot is inserted from the power supply unit to the outer surface side of the power supply robot;
At least one sensor module including at least one sensor portion; And
A moving module including at least one of a buoyancy device for providing buoyancy and a swimming device for providing a swimming function. The work robot receives the first power and the second power from the first power supply unit of the first power supply robot installed on the work robot and the second power supply unit of the second power supply robot installed on the work robot, Detecting a remaining power level of the first power supply unit;
Wherein the work robot senses a remaining power level of the first power source and the second power source to select one of the first power source and the second power source and distributes the selected power source to each functional unit of the work robot step;
Separating the first power supply robot from the working robot when the power remaining amount of the first power supply unit is less than a preset threshold value; And
Wherein the first power supply robot moves up to a water surface by buoyancy or swims in water and moves to a predetermined position for charging or replacing the first power supply unit. 12. The method of claim 11,
Wherein when the remaining amount of power of the first power supply unit is less than a predetermined threshold value, the step of detecting the remaining amount of power and the step of separating, Further comprising the steps of: receiving a second power from a power supply unit and performing work in water; and sensing a remaining power level of the second power supply unit. 13. The method of claim 12,
After the moving step,
Moving the first power supply robot to the work robot when charging or replacement of the first power supply unit is completed;
The work robot receives the first power from the first power supply unit of the first power supply robot and performs work in water when the remaining power of the second power supply unit is less than a preset threshold value;
Separating the second power supply robot from the work robot; And
Further comprising the step of the second power supply robot moving up to a water surface by buoyancy or swimming in water to a predetermined position for charging or replacing the second power supply unit.

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